EP4772416A2 - Fahrzeugsteuerungsvorrichtung, fahrzeugsteuerungsverfahren und fahrzeugsteuerungssystem - Google Patents

Fahrzeugsteuerungsvorrichtung, fahrzeugsteuerungsverfahren und fahrzeugsteuerungssystem

Info

Publication number
EP4772416A2
EP4772416A2 EP26180250.8A EP26180250A EP4772416A2 EP 4772416 A2 EP4772416 A2 EP 4772416A2 EP 26180250 A EP26180250 A EP 26180250A EP 4772416 A2 EP4772416 A2 EP 4772416A2
Authority
EP
European Patent Office
Prior art keywords
vehicle
trajectory
target
target trajectory
time
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP26180250.8A
Other languages
English (en)
French (fr)
Inventor
Tatsuya IBA
Kentaro Ueno
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Astemo Ltd
Original Assignee
Astemo Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Astemo Ltd filed Critical Astemo Ltd
Publication of EP4772416A2 publication Critical patent/EP4772416A2/de
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change
    • B60W2050/0096—Control during transition between modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
EP26180250.8A 2021-12-07 2022-11-29 Fahrzeugsteuerungsvorrichtung, fahrzeugsteuerungsverfahren und fahrzeugsteuerungssystem Pending EP4772416A2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021198318 2021-12-07
EP22904094.4A EP4446186B1 (de) 2021-12-07 2022-11-29 Fahrzeugsteuerungsvorrichtung, fahrzeugsteuerungsverfahren und fahrzeugsteuerungssystem
PCT/JP2022/043934 WO2023106163A1 (ja) 2021-12-07 2022-11-29 車両制御装置、車両制御方法、及び車両制御システム

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP22904094.4A Division EP4446186B1 (de) 2021-12-07 2022-11-29 Fahrzeugsteuerungsvorrichtung, fahrzeugsteuerungsverfahren und fahrzeugsteuerungssystem
EP22904094.4A Division-Into EP4446186B1 (de) 2021-12-07 2022-11-29 Fahrzeugsteuerungsvorrichtung, fahrzeugsteuerungsverfahren und fahrzeugsteuerungssystem

Publications (1)

Publication Number Publication Date
EP4772416A2 true EP4772416A2 (de) 2026-07-08

Family

ID=86730270

Family Applications (2)

Application Number Title Priority Date Filing Date
EP26180250.8A Pending EP4772416A2 (de) 2021-12-07 2022-11-29 Fahrzeugsteuerungsvorrichtung, fahrzeugsteuerungsverfahren und fahrzeugsteuerungssystem
EP22904094.4A Active EP4446186B1 (de) 2021-12-07 2022-11-29 Fahrzeugsteuerungsvorrichtung, fahrzeugsteuerungsverfahren und fahrzeugsteuerungssystem

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP22904094.4A Active EP4446186B1 (de) 2021-12-07 2022-11-29 Fahrzeugsteuerungsvorrichtung, fahrzeugsteuerungsverfahren und fahrzeugsteuerungssystem

Country Status (5)

Country Link
US (1) US20250058798A1 (de)
EP (2) EP4772416A2 (de)
JP (2) JP7698060B2 (de)
CN (1) CN118382570A (de)
WO (1) WO2023106163A1 (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12522215B2 (en) * 2023-03-31 2026-01-13 Torc Robotics, Inc. Lane change path generation using piecewise clothoid segments

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6610799B2 (ja) 2016-09-09 2019-11-27 日産自動車株式会社 車両の走行制御方法および走行制御装置
JP6837196B2 (ja) 2017-02-15 2021-03-03 日立Astemo株式会社 車両運動制御装置、車両運動制御方法および車両運動制御システム

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016037149A (ja) * 2014-08-07 2016-03-22 日立オートモティブシステムズ株式会社 車両制御システム、およびこれを備えた行動計画システム
JP6259797B2 (ja) * 2015-10-22 2018-01-10 本田技研工業株式会社 車両走行制御装置
US9740202B2 (en) * 2016-01-08 2017-08-22 Waymo Llc Fall back trajectory systems for autonomous vehicles
JP7056459B2 (ja) * 2018-08-10 2022-04-19 トヨタ自動車株式会社 車両の運転支援装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6610799B2 (ja) 2016-09-09 2019-11-27 日産自動車株式会社 車両の走行制御方法および走行制御装置
JP6837196B2 (ja) 2017-02-15 2021-03-03 日立Astemo株式会社 車両運動制御装置、車両運動制御方法および車両運動制御システム

Also Published As

Publication number Publication date
EP4446186A1 (de) 2024-10-16
US20250058798A1 (en) 2025-02-20
CN118382570A (zh) 2024-07-23
EP4446186A4 (de) 2025-04-02
EP4446186B1 (de) 2026-07-01
JP7698060B2 (ja) 2025-06-24
JP2025123330A (ja) 2025-08-22
WO2023106163A1 (ja) 2023-06-15
JPWO2023106163A1 (de) 2023-06-15

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